build-and-test.yml

name: Build and Test RAPTOR

on:
  push:
    branches:
      - unit_test_dev
    paths-ignore:
      # Compiled Object files and Libraries
      - '*.d'
      - '*.slo'
      - '*.lo'
      - '*.o'
      - '*.obj'
      - '*.gch'
      - '*.pch'
      - '*.so'
      - '*.dylib'
      - '*.dll'
      - '*.mod'
      - '*.smod'
      - '*.lai'
      - '*.la'
      - '*.a'
      - '*.lib'

      # Executables
      - '*.exe'
      - '*.out'
      - '*.app'

      # Matlab related
      - '*.asv'
      - '*.mat'

      - '.vscode/**'

      - 'build/**'
      - 'data/**'
      - 'data_safecopy/**'
      - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**'


      - 'test_oracle.py'

      - 'docker/HSL.zip'
      - 'docker/pardiso/**'
      - 'HSL/**'

      - 'Examples/Digit/singlestep_optimization_settings.yaml'
      - 'Examples/Digit-modified/singlestep_optimization_settings.yaml'

      - 'test_nanobind_planner.py'

  pull_request:
    branches:
      - unit_test_dev
    paths-ignore:
      # Same patterns as for push events
      - '*.d'
      - '*.slo'
      - '*.lo'
      - '*.o'
      - '*.obj'
      - '*.gch'
      - '*.pch'
      - '*.so'
      - '*.dylib'
      - '*.dll'
      - '*.mod'
      - '*.smod'
      - '*.lai'
      - '*.la'
      - '*.a'
      - '*.lib'

      # Executables
      - '*.exe'
      - '*.out'
      - '*.app'

      # Matlab related
      - '*.asv'
      - '*.mat'

      - '.vscode/**'

      - 'build/**'
      - 'data/**'
      - 'data_safecopy/**'
      - 'Examples/Kinova/SystemIdentification/ExcitingTrajectories/data/**'


      - 'test_oracle.py'

      - 'docker/HSL.zip'
      - 'docker/pardiso/**'
      - 'HSL/**'

      - 'Examples/Digit/singlestep_optimization_settings.yaml'
      - 'Examples/Digit-modified/singlestep_optimization_settings.yaml'

      - 'test_nanobind_planner.py'


concurrency:
  group: ${{ github.workflow }}-${{ github.ref }}
  cancel-in-progress: true

jobs:
  build:

    runs-on: ubuntu-latest
    container:
      image: zichang1234/raptor:latest
  
# not sure
    env:
      CCACHE_BASEDIR: ${{ github.workspace }}
      CCACHE_DIR: ${{ github.workspace }}/.ccache
      CCACHE_COMPRESS: true
      CCACHE_COMPRESSLEVEL: 5

    steps:
      - name: Setup Container
        run: |
          apt update && DEBIAN_FRONTEND="noninteractive" apt install -y sudo lsb-release gnupg2 cmake git python3

      - name: Checkout Repository
        uses: actions/checkout@v4
        with:
          fetch-depth: 0
          submodules: recursive

      - name: Setup ccache
        uses: actions/cache@v4
        with:
          path: .ccache
          save-state: true
          key: ccache-linux-${{ matrix.container }}-${{ github.sha }}
          restore-keys: |
            ccache-linux-${{ matrix.container }}-

      - name: Get branch name (merge)
        if: github.event_name != 'pull_request'
        shell: bash
        run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV

      - name: Get branch name (push)
        if: github.event_name != 'pull_request'
        shell: bash
        run: echo "BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/})" >> $GITHUB_ENV

      - name: Get branch name (pull request)
        if: github.event_name == 'pull_request'
        shell: bash
        run: echo "BRANCH_NAME=$(echo ${GITHUB_HEAD_REF})" >> $GITHUB_ENV

      - name: Debug Branch Name
        run: echo ${{ env.BRANCH_NAME }}

      # - name: Register robotpkg
      #   run: |
      #     sh -c "echo \"deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg\" >> /etc/apt/sources.list"
      #     apt-key adv --fetch-keys http://robotpkg.openrobots.org/packages/debian/robotpkg.key

      # - name: Set and install dependencies
      #   run: |
      #     rm -rf /usr/local/share/boost/1.69.0
      #     export PYTHON3_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+str(sys.version_info.minor))")
      #     export APT_DEPENDENCIES="doxygen \
      #                              ccache \
      #                              curl \
      #                              cppcheck \
      #                              libomp-dev \
      #                              libomp5 \
      #                              libboost-system-dev \
      #                              libboost-test-dev \
      #                              libboost-filesystem-dev \
      #                              libboost-program-options-dev \
      #                              libeigen3-dev \
      #                              liburdfdom-dev \
      #                              texlive-font-utils \
      #                              libboost-python-dev \
      #                              python3-numpy \
      #                              python3-matplotlib \
      #                              robotpkg-py${PYTHON3_VERSION}-eigenpy \
      #                              robotpkg-py${PYTHON3_VERSION}-hpp-fcl \
      #                              robotpkg-py${PYTHON3_VERSION}-casadi"
      #     echo "APT Dependencies: $APT_DEPENDENCIES"

      #     apt-get update -qq
      #     DEBIAN_FRONTEND="noninteractive" apt-get install -qq ${APT_DEPENDENCIES}

      # - name: Install Python Packages
      #   run: |
      #     pip3 install --upgrade pip
      #     pip3 install scipy matplotlib pyyaml torch pybullet==3.2.5 mujoco==2.3.7 glfw==2.6.2 pyopengl==3.1.7 numpy==1.25.2 nanobind pygccxml pyplusplus

      # - name: Install Pinocchio Dependencies
      #   run: |
      #     bash docker/scripts/install-pinocchio.sh

      # - name: Install HSL Solver
      #   run: |
      #     bash docker/scripts/install-hsl.sh

      # - name: Install Ipopt Solver
      #   run: |
      #     bash docker/scripts/install-ipopt.sh

      # - name: Install OMPL
      #   run: |
      #     bash docker/scripts/install-ompl.sh

      - name: Free disk space
        run: |
          apt clean
          df -h

      - name: Configure CMake
        run: |
          # Add cloned repo to safe.directory, since it was not cloned by the container
          git config --global --add safe.directory "$GITHUB_WORKSPACE"
          git submodule update --init
          export PATH=$PATH:/opt/openrobots/bin
          export PYTHON3_DOT_VERSION=$(python3 -c "import sys; print(str(sys.version_info.major)+'.'+str(sys.version_info.minor))")
          export PYTHONPATH=${PYTHONPATH}:/opt/openrobots/lib/python$PYTHON3_DOT_VERSION/site-packages
          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu

          mkdir build
          cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DCMAKE_BUILD_TYPE=Release \
            -DBUILD_WITH_COLLISION_SUPPORT=ON \
            -DBUILD_ADVANCED_TESTING=OFF \
            -DBUILD_WITH_CASADI_SUPPORT=ON \
            -DPYTHON_EXECUTABLE=$(which python3) \
            -DBUILD_WITH_OPENMP_SUPPORT=ON \
            -DINSTALL_DOCUMENTATION=ON \
            -DCMAKE_TOOLCHAIN_FILE=${GITHUB_WORKSPACE}/.github/workflows/cmake/linux-debug-toolchain.cmake

      - name: Build Project
        run: |
          cd build
          make -j$(nproc)
# may overlap
    #   - name: Build Tests
    #     run: |
    #       cd build
    #       make -j$(nproc) build_tests

      - name: Run Tests
        env:
          CTEST_OUTPUT_ON_FAILURE: 1
        run: |
          cd build
          ctest --output-on-failure

      - name: Upload Build Artifacts
        if: always()
        uses: actions/upload-artifact@v3
        with:
          name: build-artifacts
          path: build/

      - name: Run Tests
        env:
          CTEST_OUTPUT_ON_FAILURE: 1
        run: |
          cd build
          mkdir -p TestResults
          ctest --output-on-failure --output-junit TestResults/test-results.xml

      - name: Upload Test Results
        if: always()
        uses: actions/upload-artifact@v3
        with:
          name: test-results
          path: build/TestResults/test-results.xml

      - name: Upload Test Results to Test Reporter
        if: always()
        uses: dorny/test-reporter@v1
        env:
          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
        with:
          name: CTest Results
          path: build/TestResults/test-results.xml
          reporter: junit


      - name: Test Packaging
        run: |
          export PATH=$PATH:/opt/openrobots/bin
          export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/opt/openrobots/lib/pkgconfig
          export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/openrobots/lib:/usr/local/lib:/usr/lib:/usr/lib/x86_64-linux-gnu
          
          # Test CMake module packaging
          cd ./unittest/packaging/cmake
          mkdir build && cd build
          export CMAKE_PREFIX_PATH=/usr/local
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j$(nproc)
          ./run_rnea
          ./load_urdf

          # Test pkg-config packaging
          cd ../../pkgconfig
          mkdir build && cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j$(nproc)
          ./run_rnea
          ./load_urdf

          # Test FetchContent packaging
          cd ../../external
          export PINOCCHIO_GIT_REPOSITORY="file://$GITHUB_WORKSPACE"
          export PINOCCHIO_GIT_TAG="test-external-$(git rev-parse --short HEAD)"
          git tag $PINOCCHIO_GIT_TAG
          mkdir build && cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j$(nproc)
          ./run_rnea
          ./load_urdf

          # Test CMake module packaging and pinocchio_header target
          cd ../../pinocchio_header
          mkdir build && cd build
          cmake .. \
            -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
            -DPYTHON_EXECUTABLE=$(which python3)
          make -j$(nproc)
          ./run_fk

      - name: Uninstall Project
        run: |
          cd build
          sudo make uninstall

  check:
    if: always()
    name: check-linux-apt

    needs:
      - build

    runs-on: ubuntu-latest

    steps:
      - name: Decide whether the needed jobs succeeded or failed
        uses: re-actors/alls-green@release/v1
        with:
          jobs: ${{ toJSON(needs) }}